CN206248821U - A kind of locating base station and alignment system - Google Patents
A kind of locating base station and alignment system Download PDFInfo
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- CN206248821U CN206248821U CN201621276444.9U CN201621276444U CN206248821U CN 206248821 U CN206248821 U CN 206248821U CN 201621276444 U CN201621276444 U CN 201621276444U CN 206248821 U CN206248821 U CN 206248821U
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Abstract
The utility model embodiment discloses a kind of locating base station and alignment system, wherein, the locating base station includes：Rotary laser plane transmitter unit, ultrasonic transmission device and sychronisation；The rotary laser plane transmitter unit, two laser plane signals for around rotary shaft rotation transmitting being in set angle outgoing；The ultrasonic transmission device, for launching ultrasonic signal；The sychronisation, for sending synchronizing signal.The utility model embodiment simplifies the structure of locating base station, it is easy to minimize, and reduces and manufactures cost, and registration.
Description
Technical field
The utility model is related to field of locating technology, more particularly to a kind of locating base station and alignment system.
Background technology
With the development of location equipment and network technology, location-based service is more and more important in the life of people.Current
Positioning can be divided into outdoor positioning and indoor positioning according to the difference of positioning region.Wherein, outdoor positioning mainly passes through satellite
Alignment system realizes that current outdoor positioning technology can well meet the demand of outdoor positioning.However, being determined indoors
During position, due to being limited by conditions such as positioning time, positioning precision and indoor complex environments, outdoor positioning technology is applied to room
The demand of user cannot be met during interior positioning.
In order to meet indoor positioning, existing scheme is for example entered by technologies such as indoor GPS, infrared ray, bluetooths
Row location aware.However, existing indoor positioning scheme is relatively costly, device configuration is complicated and positioning precision has much room for improvement.
Utility model content
In view of this, the utility model embodiment provides a kind of locating base station and alignment system, simplifies locating base station
Structure, it is easy to minimize, reduces cost of manufacture, and positioning precision is higher.
In a first aspect, the utility model embodiment provides a kind of locating base station, including：
Rotary laser plane transmitter unit, ultrasonic transmission device and sychronisation；
Rotary laser plane transmitter unit, for being put down in two laser of set angle outgoing around rotary shaft rotation transmitting
Face signal；
Ultrasonic transmission device, for launching ultrasonic signal；
Sychronisation, for sending synchronizing signal.
Second aspect, the utility model embodiment provides a kind of alignment system, including the utility model embodiment is provided
Locating base station, also including space device to be positioned and computing device,
The space device to be positioned, for receiving sychronisation sends in the locating base station synchronizing signal, described
The two laser plane signals in set angle launched in locating base station, and the ultrasound that the ultrasonic transmission device is launched
Ripple signal, and record receives the first reference instant of the synchronizing signal, receives described two laser plane signals respectively
The first moment and the second moment, and the 3rd moment for receiving the ultrasonic signal；
Computing device, for according to first reference instant, first moment, second moment and described fixed
The rotating speed of rotary laser plane transmitter unit, determines target laser plane from first reference instant respectively to institute in the base station of position
State first anglec of rotation and second anglec of rotation of the first moment and second moment rotation；
Wherein, target laser plane is for space device to be positioned is arrived in scanning at first in described two laser plane signals
Laser plane signal formed plane；
The second reference instant and the space device to be positioned according to the synchronizing signal receives ultrasonic signal
At 3rd moment, determine distance between space device to be positioned and the locating base station；
According to first anglec of rotation and second anglec of rotation and the space device to be positioned and the positioning base
The distance between stand and to determine the position of space device to be positioned.
The technical scheme that the utility model embodiment is provided, passing through in locating base station can be by lasing light emitter using transmitting grid
The line laser signal of transmitting is converted into two laser plane signals of set angle, so that two laser plane signals are to space
Device to be positioned is scanned, and to be positioned, simplifies the structure of locating base station, locating base station is easy to miniaturization, reduces
Cost of manufacture, and positioning precision is higher.
Brief description of the drawings
The detailed description made to non-limiting example made with reference to the following drawings by reading, it is of the present utility model
Other features, objects and advantages will become more apparent upon：
Fig. 1 is a kind of locating base station structural representation that the utility model embodiment is provided；
Fig. 2 is another locating base station structural representation that the utility model embodiment is provided；
Fig. 3 a are a kind of front views of wave eyeglass that the utility model embodiment is provided；
Fig. 3 b are the front views of another wave eyeglass that the utility model embodiment is provided；
Fig. 3 c are the front views of another wave eyeglass that the utility model embodiment is provided；
Fig. 4 is a kind of structural representation of alignment system that the utility model embodiment is provided；
Fig. 5 is a kind of flow chart of the localization method performed by a kind of alignment system that the utility model embodiment is provided；
Fig. 6 a are a kind of schematic diagrams of localization method that the utility model embodiment is provided；Fig. 6 b are that the utility model is implemented
The schematic diagram of another localization method that example is provided；
Fig. 6 c are the schematic diagrams of another localization method that the utility model embodiment is provided.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explanation the utility model, rather than to restriction of the present utility model.Further need exist for
It is bright, for the ease of description, part rather than the full content related to the utility model is illustrate only in accompanying drawing.
Fig. 1 is a kind of structural representation of locating base station that the utility model embodiment is provided, as shown in figure 1, described fixed
Position base station 1 includes：Rotary laser plane transmitter unit, ultrasonic transmission device 40 and sychronisation 50.Wherein, rotary laser
Plane transmitter unit, two laser plane signals for around the rotation transmitting of rotary shaft 60 being in set angle outgoing.
Optionally, rotary laser plane transmitter unit includes lasing light emitter 10, transmitting grid 20, drive device 30.Wherein, laser
Source 10, for emission lines laser signal.Transmitting grid 20, the line laser signal for lasing light emitter 10 to be launched is converted into set angle
Two laser plane signals of outgoing are spent, and set angle can be arbitrarily angled (arbitrarily angled not hung down including laser plane
Directly in the situation of rotary shaft), can be determined as needed, and can determine to launch the structure of grid 20 as needed.Drive device
30, for driving two laser plane signals from the transmitting outgoing of grid 20 to be rotated around rotary shaft 60, so that two laser
Planed signal carries out spacescan to space device to be positioned respectively.Ultrasonic transmission device 40, for sending ultrasonic signal；
Sychronisation 50, for sending synchronizing signal, synchronizing signal carries two information of the first reference instant of laser plane signal
And the information of the second reference instant of ultrasonic signal transmission.
Optionally, ultrasonic transmission device 40 is arranged on the extended line of rotary shaft 60, and ultrasonic transmission device 40
Other positions can also be arranged on.Optionally, drive device 30 is motor, and rotary shaft is the rotating shaft of motor, and drive device
30 can also be that other drive the device of the laser plane signal rotation from transmitting grid outgoing.Transmitting grid 20 are arranged at turning for motor
On disk circumference, the rotating shaft around motor is rotated.Lasing light emitter 10 can be arranged in the rotating shaft of motor, or can also be set
On the rotating disk of motor, when lasing light emitter 10 is arranged on motor rotating disk, the relative position of lasing light emitter 10 and transmitting grid 20 is constant；
And lasing light emitter 10 can also be arranged on other positions, as long as enabling the line laser signal that lasing light emitter 10 is launched just to transmitting grid table
Face.
The locating base station 1 also includes control device (not shown in figure 1), for controlling rotary laser plane transmitter unit
Rotating speed, control rotary laser plane transmitter unit launch two laser plane signals, and control sychronisation sends synchronous
First reference instant of signal.
It should be noted that in the utility model embodiment in Fig. 1 it is exemplary the rotation direction of rotary shaft is illustrated as it is inverse
Clockwise, but the rotation direction of rotary shaft can also be clockwise direction.And it is exemplary in the utility model embodiment to incite somebody to action
Ultrasonic transmission device is arranged at the position shown in Fig. 1, but a kind of only example, in other embodiment of the present utility model
In, ultrasonic transmission device may be disposed at two laser plane signals and form the intersection of plane and the intersection point of rotary shaft, or also
Can be other positions.
Fig. 2 is the structural representation of another locating base station that the utility model embodiment is provided, in above-described embodiment
On the basis of, locating base station 1 includes rotary laser plane transmitter unit, ultrasonic transmission device 40 and sychronisation 50.It is optional
, rotary laser plane transmitter unit includes lasing light emitter 10, transmitting grid 20, drive device 30 and transmitting mirror 70, wherein, hair
Mirror 70 is penetrated for changing the direction of the line laser signal of the transmitting of lasing light emitter 10, and nyctitropic line laser signal guide transmitting will be changed
Grid 20.
In the present embodiment, optionally, the line laser signal that transmitting mirror 70 is used to launch lasing light emitter 10 is reflected, so that
The line laser signal of reflection is incided on transmitting grid 20.Wherein, the quantity of transmitting mirror can be one, or multiple, and
And the quantity of transmitting mirror is not restricted.When drive device 30 is motor, transmitting mirror is arranged in the rotating shaft of motor, with motor
The rotation of rotating shaft and rotate.Transmitting grid are arranged on the rotating disk of motor, and constant with the relative position of transmitting mirror.
The locating base station 1 also includes control device (not shown in Fig. 2), for controlling rotary laser plane transmitter unit
Rotating speed, control rotary laser plane transmitter unit launch two laser plane signals, and control sychronisation sends synchronous
First reference instant of signal.Wherein, optionally, control device is used for the rotating speed of controlled motor, control rotary laser plane hair
Penetrate unit and launch two laser plane signals, and control sychronisation sends the first reference instant of synchronizing signal.
Further, optionally, grid are launched for optical texture, including Part I and Part II；Part I, for inciting somebody to action
The line laser signal of lasing light emitter transmitting is converted into first laser planed signal；Part II, the line for lasing light emitter to be launched swashs
Optical signal is converted into second laser planed signal；Wherein, first laser planed signal and second laser planed signal are in set angle
Degree.Optionally, optical texture is wave eyeglass.Wave eyeglass includes Part I and Part II；Part I includes majority
Individual first wave, more several first wave wave lines be arranged in parallel, and the line laser signal that Part I is used to launch lasing light emitter turns
Change first laser planed signal into；Part II includes more several second waves, and more several second waves be arranged in parallel, the
Two parts are used to for the line laser signal that lasing light emitter is launched to be converted into second laser planed signal；Wherein, the side of the first wave
To different from the direction of the second wave.Wherein, for the first wave and the second wave length is simultaneously not construed as limiting, can root
Set according to needs.Fig. 3 is a kind of front view of wave eyeglass that the utility model embodiment is provided；As shown in figure 3, optional
, first wave 201 is vertical with the direction where rotary shaft in wave eyeglass 20；Second wave 202 in wave eyeglass 20
It is in 45 degree of angles with the direction where rotary shaft.Wherein, vertical direction is the direction where rotary shaft, the side of rotary shaft in Fig. 3
To parallel with the direction where dotted line in Fig. 3 a.
Wherein, when the first wave is vertical with the direction where rotary shaft, the first of the Part I conversion of wave mirror
The plane that laser plane signal is formed is parallel with rotary shaft.When the direction where the second wave and rotary shaft is in 45 degree of angles
When, plane and the rotary shaft of the second laser planed signal formation of the Part II conversion of wave mirror are in 45 degree of angles.
Specifically, the line laser signal that Part I will can be incided on Part I launches, form first laser and put down
Face signal, and first laser planed signal formation plane is vertical with the first wave.Part II can will incide second
Line laser signal on part launches, and forms second laser planed signal, and the plane that is formed of second laser planed signal with
Second wave is vertical.
Fig. 3 b are the front view of another wave eyeglass that the utility model embodiment is provided, as shown in Figure 3 b, first wave
In 90 degree of angles between the wave 202 of unrestrained line 201 and second, and the first wave 201 and the second wave 202 and rotary shaft
Angle is 45 degree.Vertical direction and the direction where rotary shaft in Fig. 3 b, in the direction of rotary shaft and Fig. 3 b where dotted line
Direction is parallel.
Wherein, when being in 90 degree of angles, and the first wave and the second wave between the first wave and the second wave
When being 45 degree with the angle of rotary shaft, the plane that first laser planed signal is formed is flat with what second laser planed signal was formed
It is in 90 degree of angles between face, and the plane of first laser planed signal formation and the plane of second laser planed signal formation are equal
It is in 45 degree of angles with rotary shaft.First wave is vertical with the plane that first laser planed signal is formed, the second wave and
The plane that dual-laser planed signal is formed is vertical.
Fig. 3 c are the front views of another wave eyeglass that the utility model embodiment is provided；As shown in Figure 3 c, wave mirror
First wave 201 and the direction where rotary shaft are in the first predetermined angle in piece 20；Second wave 202 and rotary shaft place
Direction be in the second predetermined angle.Vertical direction is the direction where rotary shaft in Fig. 3 c, and the direction of rotary shaft is empty with Fig. 3 c
Direction where line is parallel.
When the direction where the first wave in wave eyeglass and rotary shaft is in the first predetermined angle；Second wave with
When direction where rotary shaft is in the second predetermined angle, the plane that first laser planed signal is formed is preset with rotary shaft in the 3rd
Angle, the plane that second laser planed signal is formed is in the 4th predetermined angle with rotary shaft, wherein, the first predetermined angle and the 3rd
Predetermined angle sum is 90 degree, and the second predetermined angle is 90 degree with the 4th predetermined angle sum.Wherein, to the first predetermined angle with
And second predetermined angle be not restricted, can be set as needed.First predetermined angle and the second predetermined angle can not
It is 90 degree.
It should be noted that the exemplary structure for employing wave mirror shown in Fig. 3 a-3c of the utility model embodiment is carried out
Explanation, but in the utility model other embodiment, the structure of wave mirror can also be other forms, can realize line
Laser signal is converted into two purposes of laser plane signal of set angle.Wave mirror is tiled configuration, it is also possible to
It is up-down structure, the wave and rotary shaft of upper part are at an angle, lower sections of wave and rotary shaft are in one
Angle, angle all can not be 0 degree.
It should be noted that optical texture can also be other structures, to optical texture and it is not construed as limiting, line can be swashed
Optical signal is converted into two laser plane signals of predetermined angle outgoing, and such as optical texture can also be convex lens etc.
Structure.
By using above-mentioned transmitting grid, line laser signal can be converted into believing in two laser planes of set angle
Number, so that two laser plane signal space devices to be positioned are scanned to space, to the space device to be positioned in space
Positioned.
Fig. 4 is a kind of positioning system structure schematic diagram that the utility model embodiment is provided, wherein, the alignment system 3
Including locating base station 1, space device 2 to be positioned and computing device 4.
The space device 2 to be positioned, for receiving sychronisation sends in locating base station 1 synchronizing signal, described fixed
The ultrasonic wave launched in two laser plane signals of set angle and the ultrasonic transmission device launched in the base station 1 of position
Signal, and record receives the first reference instant of the synchronizing signal, receives two the first of laser plane signal respectively
Moment and the second moment, and receive the 3rd moment of the ultrasonic signal；
Computing device 4, based on first reference instant, first moment, second moment and locating base station 1
The rotating speed of middle rotary laser plane transmitter unit determines target laser plane from the first reference instant respectively to the first moment and
First anglec of rotation and second anglec of rotation of two moment rotation；Wherein, target laser plane is in two laser plane signals
The plane that scanning at first is formed to the laser plane signal of space device to be positioned；
The second reference instant and the 3rd moment according to synchronizing signal determine space device to be positioned and locating base station it
Between distance；
According to the distance between first anglec of rotation, second anglec of rotation and space device 2 to be positioned and locating base station 1
Determine the position of space device 2 to be positioned.
In the present embodiment, optionally, space device to be positioned include synchronous signal receiver device, photoelectric sensor circuit,
Ultrasonic probe, ultrasonic receiver, wherein, synchronous signal receiver device is used to receive synchronizing signal；Photoelectric sensor circuit, for receiving two
Individual laser plane signal, and record receives two first moment and the second moment of laser plane signal respectively, ultrasonic wave connects
Receiving apparatus, for received ultrasonic signal, and record the 3rd moment that ultrasound signal receipt is arrived.
Computing device 4 can link together with space device 2 to be positioned, directly be obtained according to from space device 2 to be positioned
To the first reference instant, the second reference instant, the first moment, the second moment and predetermined locating base station in drive device
Rotating speed calculates the locus of space device 2 to be positioned；Computing device 4 can also split with space device 2 to be positioned, space
Device to be positioned 2 is by wired or wirelessly to send above- mentioned information to computing device undetermined to be calculated space
The locus of position device 2.
Method for being positioned using above-mentioned alignment system, is described in detail in following localization methods.
By using above-mentioned alignment system, structure is simplified, and reduce preparation cost and control difficulty, and registration.
Fig. 5 be the utility model embodiment provide a kind of alignment system described in perform a kind of localization method flow chart,
Methods described is used for the alignment system that the utility model embodiment is provided, and methods described is specifically included：
S510：Receive synchronizing signal, two laser plane signals and ultrasound in set angle that locating base station sends
Ripple signal, and record receives the first reference instant of the synchronizing signal, receives described two laser plane signals respectively
The first moment and the second moment, and the 3rd moment for receiving the ultrasonic signal.
In the present embodiment, synchronizing signal is sent by sychronisation in locating base station, and ultrasonic signal is by locating base station
Ultrasonic transmission device sends.The information and ultrasonic wave of synchronizing signal two the first reference instants of laser plane signal of carrying
The information of the second reference instant that signal sends, the first moment and the second moment are respectively two laser plane signal scannings to sky
Between device to be positioned time, and the first moment be less than the second moment.Wherein, the first reference instant can be with the second reference instant
It is identical, it is also possible to different；Second reference instant is based on the basis of the first reference instant, and setting regular time difference is surpassed
The transmission of acoustic signals.
S520：According to first reference instant, in first moment, second moment and the locating base station
The rotating speed of rotary laser plane transmitter unit determine target laser plane from first reference instant respectively to the first moment and
First anglec of rotation and second anglec of rotation of the second moment rotation.
In the present embodiment, target laser plane is for scanning is treated to the space at first in described two laser plane signals
The laser plane of positioner.
S530：The second reference instant and the space device to be positioned according to synchronizing signal receives ultrasonic signal
The 3rd moment determine distance between space device to be positioned and the locating base station.
In the present embodiment, it is the second reference instant due to sending the time of ultrasonic signal, received ultrasonic signal
Moment was the 3rd moment, therefore determined time of the ultrasonic wave in space propagation by the 3rd moment and the second reference instant, based on super
Sound wave is that can determine that ultrasonic transmission device and space dress to be positioned in the time of space propagation and the transmission speed of ultrasonic wave
The distance between put, i.e. the distance between locating base station and space device to be positioned.
S540：Based on first anglec of rotation, second anglec of rotation and the space device to be positioned and institute
State the position that the distance between locating base station determines the space device to be positioned.
In the present embodiment, when the plane of first laser planed signal formation is parallel with rotary shaft, and when second laser is flat
When the plane that face signal is formed is in 45 degree of angles with rotary shaft, (first laser planed signal and second laser planed signal are used
Wave eyeglass shown in Fig. 3 a is formed), optionally, it is described based on first anglec of rotation, second anglec of rotation and
The distance between the space device to be positioned and described locating base station determine the position of the space device to be positioned, including：
The position of space device to be positioned is determined based on formula below：
Wherein, x is coordinate of the space device to be positioned in X-direction, and y is seat of the space device to be positioned in Y direction
Mark, z is coordinate of the space device to be positioned in Z-direction；L is the spacing of space device to be positioned and the locating base station
From；θ=θ2-θ1, θ1It is first anglec of rotation, θ2It is second anglec of rotation.
As shown in Figure 6 a, the rotating shaft of drive device is the direction of Y-axis, therefore rotary shaft is Y direction, ultrasonic wave dispensing device
Positioned at the position of origin.When rotary shaft rotate counterclockwise, θ1The plane formed for second laser planed signal is from described first
The angle that reference instant rotates to the first moment, and the plane formed for second laser planed signal is from the first reference instant to sweeping
Retouch the angle rotated during the device to be positioned of the space.θ2The plane formed for second laser planed signal is from first base
The punctual angle for being carved into the rotation of the second moment, and be the plane that is formed of first laser planed signal from the first reference instant to scanning
The angle rotated during device to be positioned to the space.When rotary shaft turns clockwise, θ1It is first laser planed signal shape
Into the angle that is rotated to the first moment from first reference instant of plane, and be plane that first laser planed signal is formed
The angle rotated during from the first reference instant to scanning device to be positioned to the space；θ2For first laser planed signal is formed
The angle that is rotated to the second moment from first reference instant of plane, and the plane formed for second laser planed signal from
The angle rotated when first reference instant is to scanning device to be positioned to the space, wherein, the first moment was less than for the second moment.
Calculating process for the position of space device to be positioned is specific as follows：By taking rotary shaft rotate counterclockwise as an example, such as
Shown in Fig. 6 a, Y-axis is the direction where rotary shaft；A points are space device to be positioned, and AOY planes are first laser planed signal
The plane of formation, the plane that first laser planed signal is formed is parallel with rotary shaft.A ' be space device A to be positioned second
Laser plane signal forms the scan position in plane, and A ' OZ planes are the plane that second laser planed signal is formed, and second swashs
The plane that optical plane signal is formed is in 45 degree with rotary shaft.θ1The plane formed for second laser planed signal is from first base
The punctual angle for being carved into the rotation of the first moment.If the first reference instant is T0The first moment was T1, then θ1=(T1-T0) × w, its
In, w is the rotating speed of drive device.θ2For second laser planed signal formed plane formed plane from the first reference instant to
The angle of the second moment rotation, if the second moment was T2, then θ2=(T2-T0)×w。
Wherein, when rotary shaft rotate counterclockwise, the first moment was that the flat scanning that second laser planed signal is formed is arrived
The time of space device to be positioned, the second moment is the flat scanning that is formed of first laser planed signal to space device to be positioned
Time, that is to say, that the first moment was the time for receiving second laser planed signal, and the second moment swashed to receive first
The time of optical plane signal.As shown in Figure 6 a, y ' is projections of the A ' in Y-axis, then in A ' y ' O triangles, A ' y '2+Oy′2=
A′O2.Vertical line is done to YOZ planes from A ', the point that hangs down is T, T ' is projections of the T in XOZ planes.Then in A ' TT ' triangles, due to
∠ TT ' A '=45 °, ∠ A ' TT '=90 °, so triangle A ' TT ' are isosceles right triangle, so A ' T=TT ', in triangle
In shape A ' Ty ',Coordinate value of the A points in the direction of Y-axis is equal with Oy ', the TT ' in Fig. 6 a respectively, A ' O=AO=
l.Thus, A ' y ' are drawn2+y2=l2；And calculate y.Similarly, for x, z can also draw, and be not repeated.
In the present embodiment, when the plane that the plane that first laser planed signal is formed is formed with second laser planed signal
Between be in 90 degree angles, and first laser planed signal formed plane and second laser planed signal formation plane with
When rotary shaft is in 45 degree of angles, (first laser planed signal and second laser planed signal use wave eyeglass as shown in Figure 4
Formed), it is optionally, described according to first anglec of rotation, second anglec of rotation and the space device to be positioned and institute
The position that the distance between locating base station determines the space device to be positioned is stated, including：
The position of space device to be positioned is determined based on formula below：
Wherein, x is coordinate of the space device to be positioned in X-direction, and y is seat of the space device to be positioned in Y direction
Mark, z is coordinate of the space device to be positioned in Z-direction；L is the spacing of space device to be positioned and the locating base station
From；θ=θ2-θ1, θ1It is first anglec of rotation, θ2It is second anglec of rotation.
As shown in Figure 6 b, the rotating shaft of drive device is the direction of Y-axis, therefore rotary shaft is Y direction, ultrasonic wave dispensing device
Positioned at the position of origin.When rotary shaft turns clockwise, θ1The plane formed for first laser planed signal is from the first benchmark
The angle that moment rotates to the first moment, and for first laser planed signal formed plane from the first reference instant to scanning to
The angle rotated during the device to be positioned of space；θ2The plane formed for first laser planed signal is from the first reference instant to second
The angle of moment rotation, and for the plane that second laser planed signal is formed is to be positioned to space to scanning from the first reference instant
The angle rotated during device.When rotary shaft rotate counterclockwise, θ1The plane formed for second laser planed signal is from the first base
The punctual angle for being carved into the rotation of the first moment, and be the plane that is formed of second laser planed signal from the first reference instant to scanning
The angle rotated during device to be positioned to space；θ2The plane formed for second laser planed signal is from the first reference instant to the
The angle of two moment rotation, and for the plane that first laser planed signal is formed is undetermined to space to scanning from the first reference instant
The angle rotated during the device of position.
As shown in Figure 6 b, for space device to be positioned position computational methods and Fig. 6 a it is hollow between device to be positioned position
The computational methods put are identical.Y-axis is the direction where rotary shaft, and rotary shaft rotates in the counterclockwise direction；A points are that space is to be positioned
Device, AOY planes are the plane that first laser planed signal is formed, and the plane that first laser planed signal is formed is in rotary shaft
45 degree.A ' is scan positions of the space device A to be positioned in second laser planed signal formation plane, and A ' OZ planes are second
The plane that laser plane signal is formed, the plane that second laser planed signal is formed is in 45 degree with rotary shaft.Swash by first
The plane and the intersection of second laser planed signal that optical plane signal is formed make a plane parallel to rotary shaft of auxiliary,
The plane that the plane and second laser planed signal formed using first laser planed signal are formed is in 45 degree with rotary shaft
Angle, and geometrical relationship, obtain the coordinate of space device A to be positioned.
In the present embodiment, when the plane and rotary shaft of the formation of first laser planed signal are in the 3rd predetermined angle, second
When the plane that laser plane signal is formed is in four predetermined angles with rotary shaft, (first laser planed signal and second laser are flat
Face signal is formed using the grating shown in Fig. 3 c) it is optional, it is described according to first anglec of rotation and second anglec of rotation with
And the distance between the space device to be positioned and the locating base station determine the position of space device to be positioned, including：
The position of space device to be positioned is determined based on formula below：
X=rcos θ1
Y=rsin β1cotα1
Z=rsin θ1
Wherein, x is coordinate of the space device to be positioned in X-direction, and y is seat of the space device to be positioned in Y direction
Mark, z is coordinate of the space device to be positioned in Z-direction；L is the spacing of space device to be positioned and the locating base station
From；α1It is the formation of second laser planed signal
Angle between plane and rotary shaft, and be the 4th predetermined angle；α2The plane formed for first laser planed signal and rotation
Angle between axle, and be the 3rd predetermined angle；θ=θ2-θ1, θ1It is first anglec of rotation, θ2It is second anglec of rotation.
When rotating shaft turns clockwise, θ1Be first anglec of rotation, as first laser planed signal formed plane from
The angle that first reference instant rotates to the first moment, and the plane formed for first laser planed signal is from the first benchmark
The angle rotated when moment is to scanning device to be positioned to the space；θ2It is second anglec of rotation, as first laser plane
The angle that the plane that signal is formed rotates from first reference instant to the second moment, and for second laser planed signal is formed
Plane from the first reference instant to scan device to be positioned to the space when angle that rotates；
Or, during rotary shaft rotate counterclockwise, θ1The plane formed for second laser planed signal is from first benchmark
The angle that moment rotates to the first moment, and for second laser planed signal formed plane from the first reference instant to scanning to
The angle rotated during the device to be positioned of the space；θ2For second laser planed signal formed plane from first benchmark when
Be carved into the angle of the second moment rotation, and be the plane that is formed of first laser planed signal from the first reference instant to scanning to institute
State the angle rotated during the device to be positioned of space.
As fig. 6 c, by taking rotary shaft rotate counterclockwise as an example, Y-axis is the direction where rotary shaft；A points are that space is undetermined
Position device, AOY planes are the plane that first laser planed signal is formed, plane and rotary shaft that first laser planed signal is formed
Between angle be α2.A ' is scan positions of the space device A to be positioned in second laser planed signal formation plane, A ' OZ
Plane is the plane that second laser planed signal is formed, the angle between the plane and rotary shaft of the formation of second laser planed signal
It is α1。θ1For the angle that the plane that second laser planed signal is formed rotates from first reference instant to the first moment.If the
One reference instant is T0The first moment was T1, then θ1=(T1-T0) × w, wherein, w is the rotating speed of drive device.θ2For second swash
The angle that is rotated to the second moment from the first reference instant of plane that the plane that optical plane signal is formed is formed, if the second moment be
T2, then θ2=(T2-T0)×w。
Wherein, the first moment was the flat scanning of second laser planed signal formation to the time of space device to be positioned,
Second moment was the flat scanning of first laser planed signal formation to the time of space device to be positioned.As fig. 6 c, lead to
Cross to first laser planed signal formed plane and second laser planed signal intersection make one auxiliary parallel to rotation
The plane that the plane of rotating shaft, the plane formed using first laser planed signal and second laser planed signal are formed is respectively
Angle between rotary shaft, and geometrical relationship, obtain the coordinate of space device A to be positioned.
It should be noted that when the utility model embodiment is described in detail, for purposes of illustration only, representing apparatus structure and positioning
The schematic diagram of principle not makees partial enlargement according to general ratio, and described to attempt simply example, and it should not be limited herein
The scope of the utility model protection.
Positioned by using the alignment system with transmitting grid, reduced cost of manufacture, simplified control system, and
Positioning precision is higher.
Note, above are only preferred embodiment of the present utility model and institute's application technology principle.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carry out for a person skilled in the art various bright
Aobvious change, readjust and substitute without departing from protection domain of the present utility model.Therefore, although by above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
In the case that the utility model is conceived, more other Equivalent embodiments can also be included, and scope of the present utility model is by appended
Right determine.
Claims (10)
1. a kind of locating base station, it is characterised in that including：
Rotary laser plane transmitter unit, ultrasonic transmission device and sychronisation；
The rotary laser plane transmitter unit, for being put down in two laser of set angle outgoing around rotary shaft rotation transmitting
Face signal；
The ultrasonic transmission device, for launching ultrasonic signal；
The sychronisation, for sending synchronizing signal.
2. locating base station according to claim 1, it is characterised in that also including control device, for controlling the rotation
The rotating speed of laser plane transmitter unit, the control rotary laser plane transmitter unit launch two laser plane signals, and
The sychronisation is controlled to send the first reference instant of synchronizing signal.
3. locating base station according to claim 1, it is characterised in that the rotary laser plane transmitter unit includes：Swash
Light source, transmitting grid and drive device；
The lasing light emitter, for emission lines laser signal；
The transmitting grid, for the line laser signal that the lasing light emitter is launched to be converted into the described two of set angle outgoing
Laser plane signal；
The drive device, for driving two laser plane signals from the transmitting grid outgoing to be carried out around the rotary shaft
Rotation, so that described two laser plane signals are scanned to space respectively.
4. locating base station according to claim 3, it is characterised in that the rotary laser plane transmitter unit also includes hair
Penetrate mirror,
The transmitting mirror, the direction of the line laser signal for changing the lasing light emitter transmitting, and nyctitropic line laser will be changed
Launch grid described in signal guide.
5. the locating base station according to claim 3 or 4, it is characterised in that the transmitting grid are optical texture, including first
Part and Part II；
The Part I, for the line laser signal that the lasing light emitter is launched to be converted into first laser planed signal；
The Part II, for the line laser signal that the lasing light emitter is launched to be converted into second laser planed signal；
Wherein, the first laser planed signal and second laser planed signal are in set angle.
6. locating base station according to claim 5, it is characterised in that the optical texture is wave eyeglass；Described first
Part includes more several first wave wave lines；
The Part II includes more several second waves；
Wherein, the direction of first wave is different from the direction of second wave.
7. locating base station according to claim 6, it is characterised in that more several first wave wave lines be arranged in parallel；Institute
More several second waves are stated to be arranged in parallel.
8. a kind of alignment system, it is characterised in that including the locating base station as described in claim 1-7 is any, also including space
Device to be positioned and computing device,
The space device to be positioned, synchronizing signal, the positioning for receiving sychronisation transmission in the locating base station
The two laser plane signals in set angle launched in base station, and the ultrasonic wave of ultrasonic transmission device transmitting is believed
Number, and record receives the first reference instant of the synchronizing signal, receives the of described two laser plane signals respectively
One moment and the second moment, and receive the 3rd moment of the ultrasonic signal；
The computing device, for according to first reference instant, first moment, second moment and described fixed
The rotating speed of rotary laser plane transmitter unit, determines target laser plane from first reference instant respectively to institute in the base station of position
State first anglec of rotation and second anglec of rotation of the first moment and second moment rotation；
Wherein, the target laser plane is for space device to be positioned is arrived in scanning at first in described two laser plane signals
Laser plane signal formed plane；
The second reference instant and the space device to be positioned according to the synchronizing signal receives the 3rd of ultrasonic signal
At the moment, determine distance between space device to be positioned and the locating base station；
According to first anglec of rotation, second anglec of rotation and the space device to be positioned and the locating base station
The distance between determine the position of the space device to be positioned.
9. alignment system according to claim 8, it is characterised in that the computing device and space device to be positioned
Link together；Or
The computing device splits setting with space device to be positioned, by wired or wirelessly communicated.
10. alignment system according to claim 8, it is characterised in that first reference instant and second benchmark
Moment is identical；Or
Second reference instant is, based on first reference instant, and to carry out ultrasonic signal transmission with setting time difference
Time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276444.9U CN206248821U (en) | 2016-11-25 | 2016-11-25 | A kind of locating base station and alignment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276444.9U CN206248821U (en) | 2016-11-25 | 2016-11-25 | A kind of locating base station and alignment system |
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| CN206248821U true CN206248821U (en) | 2017-06-13 |
Family
ID=59002389
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621276444.9U Active CN206248821U (en) | 2016-11-25 | 2016-11-25 | A kind of locating base station and alignment system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646365A (en) * | 2016-11-25 | 2017-05-10 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN107797095A (en) * | 2017-10-10 | 2018-03-13 | 浙江大华技术股份有限公司 | A kind of space navigation method applied to robot motion |
-
2016
- 2016-11-25 CN CN201621276444.9U patent/CN206248821U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646365A (en) * | 2016-11-25 | 2017-05-10 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| WO2018095072A1 (en) * | 2016-11-25 | 2018-05-31 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system, and positioning method |
| US10512059B2 (en) | 2016-11-25 | 2019-12-17 | Nolo Co., Ltd. | Positioning base station, positioning system and positioning method |
| CN106646365B (en) * | 2016-11-25 | 2024-02-20 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN107797095A (en) * | 2017-10-10 | 2018-03-13 | 浙江大华技术股份有限公司 | A kind of space navigation method applied to robot motion |
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